UPDATE: 2 kids recovered after boat chase in SF Bay

SOUTH SAN FRANCISCO, CA (AP) - The Coast Guard says it has recovered two children believed to be abducted by their father from South San Francisco.

The guard spent most of the day Friday tracking a stolen sailboat believed to be carrying the man and the children.

Authorities say the sailboat named "Unleashed" was spotted off the San Mateo County coast three days after 43-year-old Christopher Maffei allegedly abducted his 3-year-old daughter, Brooklynn, and 2-year-old son, Devin, from their mother's home.

Chief Petty Officer Mike Lutz says a Guard airplane followed the boat south to Monterey Bay.

South San Francisco police have said that after running off with the children, Maffei drove them to a harbor in Alameda and left on the 40-foot Unleashed.